// --------------------------------------------------------------------------------------------------------------------
// <copyright file="GraphMessage.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
// </copyright>
// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Navigation.Runtime
{
    using System;
    using System.Collections.Generic;
    using System.Runtime.Serialization;
    using Microsoft.Robotics.Navigation;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Numerics.GraphOptimization;
    using Microsoft.Robotics.Runtime;
   
    /// <summary>
    /// Agent message that contains a graph for PoseSLAM
    /// </summary>
    public class GraphMessage : AgentMessage 
    {
        /// <summary>
        /// Initializes a new instance of the GraphMessage class
        /// </summary>
        /// <param name="nodes">List of nodes in the graph</param>
        /// <param name="edges">List of edges in the graph</param>
        public GraphMessage(List<Pose2D> nodes, List<Microsoft.Robotics.Numerics.GraphOptimization.Pose2DEdge> edges)
            : base(0)
        {
            this.Nodes = nodes;
            this.Edges = edges;
        }

        /// <summary>
        /// Gets list of nodes
        /// </summary>
        public List<Pose2D> Nodes { get; private set; }

        /// <summary>
        /// Gets list of edges
        /// </summary>
        public List<Pose2DEdge> Edges { get; private set; }
    }
}
